TaxonomyProject/SimulationMetadata
PercepTax — Simulation Metadata Supporting metadata for the PercepTax benchmark. This repository holds the object taxonomy, object lists / placement rules, and per-scene 3D annotations used to render and annotate the simulated split of PercepTax. It is a collection of JSON/CSV/PNG files (not a load_dataset-style tabular dataset). Contents taxonomy/ # the physical-property taxonomy ├── taxonomy.json # full taxonomy… See the full description on the dataset page: https://huggingface.co/datasets/TaxonomyProject/SimulationMetadata.
12.3k
1{2 "scene_name": "Bakery",3 "view_id": "l044_off0_r000",4 "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/Bakery/l044_off0_r000/lit.png",5 "camera": {6 "location": [7 -179,8 268,9 20110 ],11 "rotation": [12 0,13 0,14 015 ],16 "fov": 90,17 "c2w": [18 [19 1,20 0,21 0,22 023 ],24 [25 0,26 1,27 0,28 029 ],30 [31 0,32 0,33 1,34 035 ],36 [37 -179,38 268,39 201,40 141 ]42 ],43 "width": 1920,44 "height": 1080,45 "fxfycxcy": [46 960.0000000000001,47 960.0000000000002,48 960.0,49 540.050 ]51 },52 "background": {53 "ceiling planks corner": [54 {55 "object_id": "SM_ceiling",56 "bbox_2d": [57 247,58 0,59 1414,60 22561 ],62 "bbox_3d": {63 "aabb": {64 "center": [65 0,66 10.70562744140625,67 407.093048095703168 ],69 "extent": [70 447.2875671386719,71 455.69342041015625,72 8.67544555664062573 ]74 },75 "obb": {76 "center": [77 0,78 10.70562744140625,79 407.093048095703180 ],81 "extent": [82 447.2875671386719,83 455.69342041015625,84 8.67544555664062585 ],86 "rotation": [87 0,88 0,89 090 ]91 },92 "location": [93 0,94 10,95 3.5836791992187596 ],97 "rotation": [98 0,99 0,100 0101 ],102 "scale": [103 1,104 1,105 1106 ]107 },108 "color": [109 255,110 255,111 255112 ]113 }114 ],115 "window": [116 {117 "object_id": "SM_wall_01_281",118 "bbox_2d": [119 0,120 0,121 1916,122 1079123 ],124 "bbox_3d": {125 "aabb": {126 "center": [127 0,128 0,129 199.22988891601562130 ],131 "extent": [132 448.35015869140625,133 456.7044982910156,134 200.50445556640625135 ]136 },137 "obb": {138 "center": [139 0,140 0,141 199.22988891601562142 ],143 "extent": [144 448.35015869140625,145 456.7044982910156,146 200.50445556640625147 ],148 "rotation": [149 0,150 0,151 0152 ]153 },154 "location": [155 0,156 0,157 0158 ],159 "rotation": [160 0,161 0,162 0163 ],164 "scale": [165 1,166 1,167 1168 ]169 },170 "color": [171 0,172 255,173 127174 ]175 },176 {177 "object_id": "SM_wall_02_491",178 "bbox_2d": [179 0,180 312,181 511,182 794183 ],184 "bbox_3d": {185 "aabb": {186 "center": [187 170.26333618164062,188 -45.951751708984375,189 133.2178497314453190 ],191 "extent": [192 239.49139404296875,193 39.54395294189453,194 133.66961669921875195 ]196 },197 "obb": {198 "center": [199 170.26333618164062,200 -45.951751708984375,201 133.2178497314453202 ],203 "extent": [204 239.49139404296875,205 39.54395294189453,206 133.66961669921875207 ],208 "rotation": [209 0,210 0,211 0212 ]213 },214 "location": [215 170.26333618164062,216 -45.951751708984375,217 2.2381439208984375218 ],219 "rotation": [220 0,221 0,222 0223 ],224 "scale": [225 1,226 1,227 1228 ]229 },230 "color": [231 255,232 0,233 191234 ]235 },236 {237 "object_id": "SM_wall_06_505",238 "bbox_2d": [239 0,240 0,241 549,242 777243 ],244 "bbox_3d": {245 "aabb": {246 "center": [247 1.37738037109375,248 5.184879779815674,249 196.00094604492188250 ],251 "extent": [252 426.0718994140625,253 4.455683708190918,254 200.5044403076172255 ]256 },257 "obb": {258 "center": [259 1.37738037109375,260 5.184879779815674,261 196.00094604492188262 ],263 "extent": [264 426.0718994140625,265 4.455683708190918,266 200.5044403076172267 ],268 "rotation": [269 0,270 0,271 0272 ]273 },274 "location": [275 1.37738037109375,276 5.184879302978516,277 -4.41204833984375278 ],279 "rotation": [280 0,281 0,282 0283 ],284 "scale": [285 1,286 1,287 1288 ]289 },290 "color": [291 63,292 0,293 191294 ]295 },296 {297 "object_id": "SM_wall_05_19",298 "bbox_2d": [299 526,300 252,301 1239,302 600303 ],304 "bbox_3d": {305 "aabb": {306 "center": [307 413.07183837890625,308 219.72203063964844,309 272.21002197265625310 ],311 "extent": [312 22.278289794921875,313 215.7262659626067,314 109.5366704119806315 ]316 },317 "obb": {318 "center": [319 413.07183837890625,320 219.72203063964844,321 272.21002197265625322 ],323 "extent": [324 22.278289794921875,325 215.7262659626067,326 109.5366704119806327 ],328 "rotation": [329 0,330 0,331 0332 ]333 },334 "location": [335 413.07183837890625,336 219.72203063964844,337 272.21002197265625338 ],339 "rotation": [340 0,341 0,342 0343 ],344 "scale": [345 1,346 1.0699734687805176,347 1.0926108360290527348 ]349 },350 "color": [351 63,352 191,353 15354 ]355 }356 ],357 "beam": [358 {359 "object_id": "SM_beam_464",360 "bbox_2d": [361 1355,362 163,363 1549,364 287365 ],366 "bbox_3d": {367 "aabb": {368 "center": [369 0.00531005859375,370 524.9238891601562,371 466.1217346191406372 ],373 "extent": [374 448.35009765625,375 67.94873046875,376 100.25222778320312377 ]378 },379 "obb": {380 "center": [381 0.00531005859375,382 524.9238891601562,383 466.1217346191406384 ],385 "extent": [386 448.35009765625,387 67.94873046875,388 100.25222778320312389 ],390 "rotation": [391 0,392 0,393 0394 ]395 },396 "location": [397 0.00531005859375,398 524.9238891601562,399 466.1217346191406400 ],401 "rotation": [402 0,403 0,404 0405 ],406 "scale": [407 1,408 1,409 1410 ]411 },412 "color": [413 63,414 127,415 63416 ]417 }418 ],419 "door frame": [420 {421 "object_id": "SM_doorframe_467",422 "bbox_2d": [423 1330,424 340,425 1549,426 919427 ],428 "bbox_3d": {429 "aabb": {430 "center": [431 187.48676300048828,432 450.7649061235361,433 140.74870859740804434 ],435 "extent": [436 94.6826400756836,437 4.9441698669024845,438 120.46647398356254439 ]440 },441 "obb": {442 "center": [443 187.48676300048828,444 450.7649061235361,445 140.74870859740804446 ],447 "extent": [448 94.6826400756836,449 4.9441698669024845,450 120.46647398356254451 ],452 "rotation": [453 0,454 0,455 0456 ]457 },458 "location": [459 187.4867706298828,460 450.764892578125,461 20.000030517578125462 ],463 "rotation": [464 0,465 0,466 0467 ],468 "scale": [469 1,470 0.8877120614051819,471 0.9204005002975464472 ]473 },474 "color": [475 63,476 63,477 0478 ]479 }480 ],481 "floorlock": [482 {483 "object_id": "SM_floorlock_509",484 "bbox_2d": [485 1333,486 920,487 1354,488 938489 ],490 "bbox_3d": {491 "aabb": {492 "center": [493 187.39543914794922,494 450.041748046875,495 20.60430908203125496 ],497 "extent": [498 88.91845703125,499 5.1641845703125,500 0.8110421895980835501 ]502 },503 "obb": {504 "center": [505 187.39543914794922,506 450.041748046875,507 20.60430908203125508 ],509 "extent": [510 88.91845703125,511 5.1641845703125,512 0.8110421895980835513 ],514 "rotation": [515 0,516 0,517 0518 ]519 },520 "location": [521 187.39544677734375,522 450.041748046875,523 20.60430908203125524 ],525 "rotation": [526 0,527 0,528 0529 ],530 "scale": [531 1,532 1,533 1534 ]535 },536 "color": [537 63,538 127,539 191540 ]541 }542 ],543 "ground": [544 {545 "object_id": "SM_ground_9",546 "bbox_2d": [547 860,548 828,549 1354,550 1079551 ],552 "bbox_3d": {553 "aabb": {554 "center": [555 0,556 0.704864501953125,557 11.041000366210938558 ],559 "extent": [560 447.2875671386719,561 455.69342041015625,562 8.675445556640625563 ]564 },565 "obb": {566 "center": [567 0,568 0.704864501953125,569 11.041000366210938570 ],571 "extent": [572 447.2875671386719,573 455.69342041015625,574 8.675445556640625575 ],576 "rotation": [577 0,578 0,579 0580 ]581 },582 "location": [583 0,584 -0.000762939453125,585 11.041000366210938586 ],587 "rotation": [588 0,589 0,590 0591 ],592 "scale": [593 1,594 1,595 1596 ]597 },598 "color": [599 191,600 0,601 255602 ]603 }604 ]605 },606 "foreground": {607 "breadrack": [608 {609 "object_id": "SM_breadrack_01_290",610 "bbox_2d": [611 0,612 788,613 761,614 1079615 ],616 "bbox_3d": {617 "aabb": {618 "center": [619 -118.70851135253906,620 188.5910186767578,621 89.99793243408203622 ],623 "extent": [624 100.25221252441406,625 50.126121520996094,626 70.04141235351562627 ]628 },629 "obb": {630 "center": [631 -118.70851135253906,632 188.5910186767578,633 89.99793243408203634 ],635 "extent": [636 100.25221252441406,637 50.126121520996094,638 70.04141235351562639 ],640 "rotation": [641 0,642 0,643 0644 ]645 },646 "location": [647 -118.70851135253906,648 188.5910186767578,649 25.59441375732422650 ],651 "rotation": [652 0,653 0,654 0655 ],656 "scale": [657 1,658 1,659 1660 ]661 },662 "color": [663 255,664 255,665 127666 ]667 },668 {669 "object_id": "SM_breadrack_04_293",670 "bbox_2d": [671 1355,672 581,673 1916,674 1079675 ],676 "bbox_3d": {677 "aabb": {678 "center": [679 5.943952560424805,680 400.90496826171875,681 105.9197006225586682 ],683 "extent": [684 83.54350280761719,685 33.417388916015625,686 85.13441467285156687 ]688 },689 "obb": {690 "center": [691 5.943952560424805,692 400.90496826171875,693 105.9197006225586694 ],695 "extent": [696 83.54350280761719,697 33.417388916015625,698 85.13441467285156699 ],700 "rotation": [701 0,702 0,703 0704 ]705 },706 "location": [707 5.943952560424805,708 400.90496826171875,709 20710 ],711 "rotation": [712 0,713 0,714 0715 ],716 "scale": [717 1,718 1,719 1720 ]721 },722 "color": [723 0,724 127,725 0726 ]727 },728 {729 "object_id": "SM_breadrack_02_296",730 "bbox_2d": [731 549,732 663,733 876,734 1079735 ],736 "bbox_3d": {737 "aabb": {738 "center": [739 65.93284606933594,740 187.62933349609375,741 93.91255950927734742 ],743 "extent": [744 79.36634826660156,745 52.91090774536133,746 74.07523345947266747 ]748 },749 "obb": {750 "center": [751 65.93284606933594,752 187.62933349609375,753 93.91255950927734754 ],755 "extent": [756 79.36634826660156,757 52.91090774536133,758 74.07523345947266759 ],760 "rotation": [761 0,762 0,763 0764 ]765 },766 "location": [767 65.93284606933594,768 187.62933349609375,769 20.00006103515625770 ],771 "rotation": [772 0,773 0,774 0775 ],776 "scale": [777 1,778 1,779 1780 ]781 },782 "color": [783 0,784 127,785 255786 ]787 },788 {789 "object_id": "SM_breadrack_03_299",790 "bbox_2d": [791 0,792 671,793 251,794 884795 ],796 "bbox_3d": {797 "aabb": {798 "center": [799 69.35102081298828,800 -45.5966682434082,801 81.75312423706055802 ],803 "extent": [804 133.66964721679688,805 39.26552200317383,806 67.28050231933594807 ]808 },809 "obb": {810 "center": [811 69.35102081298828,812 -45.5966682434082,813 81.75312423706055814 ],815 "extent": [816 133.66964721679688,817 39.26552200317383,818 67.28050231933594819 ],820 "rotation": [821 0,822 0,823 0824 ]825 },826 "location": [827 69.35102081298828,828 -45.5966682434082,829 19.998779296875830 ],831 "rotation": [832 0,833 0,834 0835 ],836 "scale": [837 1,838 1,839 1840 ]841 },842 "color": [843 255,844 127,845 0846 ]847 },848 {849 "object_id": "SM_breadrack_2",850 "bbox_2d": [851 1865,852 0,853 1919,854 1079855 ],856 "bbox_3d": {857 "aabb": {858 "center": [859 -244.97552490234375,860 397.81231689453125,861 138.38698959350586862 ],863 "extent": [864 167.6439971923828,865 33.974395751953125,866 119.4671630859375867 ]868 },869 "obb": {870 "center": [871 -244.97552490234375,872 397.81231689453125,873 138.38698959350586874 ],875 "extent": [876 167.6439971923828,877 33.974395751953125,878 119.4671630859375879 ],880 "rotation": [881 0,882 0,883 0884 ]885 },886 "location": [887 -244.97552490234375,888 397.81231689453125,889 22.278316497802734890 ],891 "rotation": [892 0,893 0,894 0895 ],896 "scale": [897 1,898 1,899 1900 ]901 },902 "color": [903 127,904 191,905 255906 ]907 }908 ],909 "cashier": [910 {911 "object_id": "SM_cashier_302",912 "bbox_2d": [913 547,914 687,915 897,916 873917 ],918 "bbox_3d": {919 "aabb": {920 "center": [921 330.7001953125,922 148.85812377929688,923 68.8092041015625924 ],925 "extent": [926 39.265533447265625,927 83.54351806640625,928 50.12611389160156929 ]930 },931 "obb": {932 "center": [933 330.7001953125,934 148.85812377929688,935 68.8092041015625936 ],937 "extent": [938 39.265533447265625,939 83.54351806640625,940 50.12611389160156941 ],942 "rotation": [943 0,944 0,945 0946 ]947 },948 "location": [949 330.7001953125,950 148.85812377929688,951 20952 ],953 "rotation": [954 0,955 0,956 0957 ],958 "scale": [959 1,960 1,961 1962 ]963 },964 "color": [965 255,966 127,967 255968 ]969 }970 ],971 "flyzapper": [972 {973 "object_id": "SM_flyzapper_308",974 "bbox_2d": [975 1765,976 0,977 1916,978 84979 ],980 "bbox_3d": {981 "aabb": {982 "center": [983 -17.928199768066406,984 429.95953369140625,985 306.4963073730469986 ],987 "extent": [988 26.657876307992822,989 5.972186155325971,990 16.560058615492267991 ]992 },993 "obb": {994 "center": [995 -17.928199768066406,996 429.95953369140625,997 306.4963073730469998 ],999 "extent": [1000 26.657876307992822,1001 5.972186155325971,1002 16.5600586154922671003 ],1004 "rotation": [1005 6.8301887851656506e-06,1006 90.00000000000001,1007 90.000129699707051008 ]1009 },1010 "location": [1011 -17.928199768066406,1012 429.95953369140625,1013 306.49630737304691014 ],1015 "rotation": [1016 6.8301887851656506e-06,1017 90.00000000000001,1018 90.000129699707051019 ],1020 "scale": [1021 1,1022 1,1023 11024 ]1025 },1026 "color": [1027 255,1028 127,1029 1271030 ]1031 }1032 ],1033 "grill": [1034 {1035 "object_id": "SM_grill2",1036 "bbox_2d": [1037 443,1038 598,1039 456,1040 6771041 ],1042 "bbox_3d": {1043 "aabb": {1044 "center": [1045 385.2553100585887,1046 -75.62591934204102,1047 108.739494323730471048 ],1049 "extent": [1050 28.420366367019028,1051 35.869838411538495,1052 90.033317565917971053 ]1054 },1055 "obb": {1056 "center": [1057 385.2553100585887,1058 -75.62591934204102,1059 108.739494323730471060 ],1061 "extent": [1062 28.420366367019028,1063 35.869838411538495,1064 90.033317565917971065 ],1066 "rotation": [1067 0,1068 90.00007629394531,1069 01070 ]1071 },1072 "location": [1073 385.25531005859375,1074 -75.62592315673828,1075 201076 ],1077 "rotation": [1078 0,1079 90.00007629394531,1080 01081 ],1082 "scale": [1083 1,1084 1,1085 11086 ]1087 },1088 "color": [1089 127,1090 0,1091 2551092 ]1093 }1094 ],1095 "cash register": [1096 {1097 "object_id": "SM_cash_register_318",1098 "bbox_2d": [1099 566,1100 651,1101 700,1102 6951103 ],1104 "bbox_3d": {1105 "aabb": {1106 "center": [1107 347.53276852910653,1108 89.550582188795,1109 129.631347928690841110 ],1111 "extent": [1112 24.934106523168452,1113 32.800457754910184,1114 11.223392870830481115 ]1116 },1117 "obb": {1118 "center": [1119 347.53276852910653,1120 89.550582188795,1121 129.631347928690841122 ],1123 "extent": [1124 24.934106523168452,1125 32.800457754910184,1126 11.223392870830481127 ],1128 "rotation": [1129 0,1130 -80.00000762939452,1131 01132 ]1133 },1134 "location": [1135 344.2492980957031,1136 84.56668090820312,1137 119.3459472656251138 ],1139 "rotation": [1140 0,1141 -80.00000762939452,1142 01143 ],1144 "scale": [1145 1,1146 1.0000001192092896,1147 1.00000011920928961148 ]1149 },1150 "color": [1151 127,1152 255,1153 01154 ]1155 }1156 ],1157 "fireextinguisher": [1158 {1159 "object_id": "SM_fireextinguisher_324",1160 "bbox_2d": [1161 461,1162 740,1163 500,1164 7871165 ],1166 "bbox_3d": {1167 "aabb": {1168 "center": [1169 331.0877685546875,1170 13.703109741210938,1171 55.872402191162111172 ],1173 "extent": [1174 15.99792177943084,1175 14.843982007062664,1176 37.3364028930664061177 ]1178 },1179 "obb": {1180 "center": [1181 331.0877685546875,1182 13.703109741210938,1183 55.872402191162111184 ],1185 "extent": [1186 15.99792177943084,1187 14.843982007062664,1188 37.3364028930664061189 ],1190 "rotation": [1191 0,1192 -30.000061035156264,1193 01194 ]1195 },1196 "location": [1197 331.0877685546875,1198 13.703109741210938,1199 55.8724060058593751200 ],